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annotate bot.py @ 3:1dc1a2e5e642 default tip

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author Radomir Dopieralski <bitbucket@sheep.art.pl>
date Wed, 20 Mar 2019 23:15:39 +0000
parents 6dcf45d13f35
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1 import microbit
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4 class Servo:
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5 """A class for controlling continuous-rotation servos."""
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7 def __init__(self, pin, trim=0):
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8 self.pin = pin # The pin to which the servo is connected.
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9 self.trim = trim # What value makes the servo stop.
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10 self.speed = 0 # Current speed.
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11 self.pin.set_analog_period(20) # Servo needs 20Hz signal.
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13 def set_speed(self, speed):
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14 """Sets the rotation speed of the servo, range is -90 to +90."""
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15 # Value of 25 gives us around 1000us, which is the minimum duty cycle
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16 # for the servo. 125 is the maximum.
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17 self.pin.write_analog(int(25 + 100 * (90 + speed) / 180 + self.trim))
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18 self.speed = speed
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21 class Robot:
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22 def __init__(self):
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23 # Initialize the servos. Adjust the trim as needed.
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24 self.left_servo = Servo(microbit.pin0, 2)
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25 self.right_servo = Servo(microbit.pin1, 1)
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27 def go(self, distance):
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28 """Make the robot go straight for a given distance."""
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29 microbit.display.show(microbit.Image.ARROW_S)
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30 self.left_servo.set_speed(-90)
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31 self.right_servo.set_speed(90)
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32 microbit.sleep(int(distance * 2000 / 17))
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33 self.stop()
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35 def turn(self, angle):
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36 """Make the robot turn in place by given angle in degrees."""
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37 if angle > 0:
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38 microbit.display.show(microbit.Image.ARROW_E)
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39 self.left_servo.set_speed(-90)
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40 self.right_servo.set_speed(-90)
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41 microbit.sleep(int(angle * 64 / 9))
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42 else:
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43 microbit.display.show(microbit.Image.ARROW_W)
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44 self.left_servo.set_speed(90)
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45 self.right_servo.set_speed(90)
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46 microbit.sleep(int(-angle * 64 / 9))
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47 self.stop()
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49 def stop(self):
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50 """Make the robot stop."""
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51 microbit.display.show(microbit.Image.DIAMOND)
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52 self.left_servo.set_speed(0)
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53 self.right_servo.set_speed(0)
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55 def get_distance(self):
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56 """Use the distance sensor on pin2."""
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57 return microbit.pin2.read_analog()
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59
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60 robot = Robot() # Create the robot object.
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61 while True:
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62 robot.go(5) # Go forward 5 units.
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63 if robot.get_distance() > 700: # If the distance sensor returns something...
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64 robot.turn(20) # Turn 20 degrees one way.
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65 left_distance = robot.get_distance() # Take a measurement.
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66 robot.turn(-40) # Turn 20 degrees the other way (40 in total)
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67 right_distance = robot.get_distance() # Take a measurement.
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68 robot.turn(20) # Turn back straight.
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69 if left_distance < right_distance: # Pick whatever side was further away.
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70 robot.turn(60)
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71 else:
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72 robot.turn(-60)